Logistics mechanism

Abstract

To provide a technique flexibly and dynamically (instantly) suitable for failures and layout changes, or demand variation, seasonal variation, time variation, etc. that are attributable to customer requests, without stopping an operation of an automatized warehouse as a whole.SOLUTION: According to a distribution mechanism 1 provided with an autonomous mobile robot 4 comprising an autonomous mobile mechanism capable of preparing an autonomous mobile scenario, a reception part for receiving a mechanism instruction from the distribution mechanism, and a comparatively balancing part for determining a conclusion mobile scenario by comparatively balancing the autonomous mobile mechanism and the mechanism instruction, at least one of operations concerning at least any of an incoming part, a storage part, a sorting part and a shipping part, and / or movements relating to the operations is executed with the autonomous mobile robot 4.SELECTED DRAWING: Figure 1

Description

[Technical field]

[0001] The present invention relates to, for example, a logistics organization, and more particularly to a logistics organization that uses an autonomous mobile robot to carry out tasks such as storing and picking goods in and out of a warehouse. [Background technology]

[0002] Conventionally, logistics facilities are formed by combining multiple components such as a warehouse, picking equipment, shipping area, etc. The warehouse, picking equipment, and other material handling equipment are connected by conveying lines such as roller conveyors and belt conveyors, and sorting equipment such as diverters and slide shoe sorters are used at the shipping area to sort transported items into truck berths for different destinations.

[0003] Reflecting the current social situation, such as the spread of mail order sales, the volume and variety of goods handled at these logistics facilities is increasing, and there is also a demand for faster shipping.

[0004] In recent years, therefore, automation of each component of a logistics facility has been promoted. For example, automated multi-story warehouses that automatically load and unload products using stacker cranes and traveling carts are being used (see Patent Document 1).

[0005] By using such automated equipment, it is possible to speed up shipping even when the volume or variety of goods increases, and it is also possible to reduce the number of workers required for the work.

[0006] In addition, autonomous mobile robots such as AGVs (Automatic Guided Vehicles) and AMRs (Autonomous Mobile Robots) are being introduced to replace various tasks that have traditionally been performed by workers.

[0007] For example, a robot has been introduced that moves based on alignment marks provided within a logistics facility and uses a robot arm to pick up and transport products from a warehouse (see Patent Document 2). [Prior art documents] [Patent documents]

[0008] [Patent Document 1] JP 2017-160040 A [Patent Document 2] Patent Publication No. 2021-074791 Summary of the Invention [Problem to be solved by the invention]

[0009] However, the equipment in a logistics facility cannot be used semi-permanently, and malfunctions can occur. When this happens, it is necessary to temporarily suspend operations to allow for repairs. However, because the above-mentioned logistics facilities are entirely managed by computers, it was necessary to suspend operations not just partially, but the entire facility. Thus, in conventional logistics facilities, once a malfunction occurred, it had an extremely large impact. The same problem arose when changing the layout of a logistics facility.

[0010] Furthermore, the same problems as above exist when dealing with fluctuations in demand resulting from customer requests in the recent high-mix, low-volume logistics, or changes in demand and shipping time zones due to climate change or seasonal fluctuations. However, for the same reasons as above, it has been virtually impossible to flexibly deal with these fluctuations, and the equipment has been extremely inflexible.

[0011] The present invention has been made in consideration of the above problems, and its purpose is to provide a logistics mechanism that embodies a technical concept that can flexibly and dynamically (instantly) respond to breakdowns, layout changes, or fluctuations in demand, seasonal fluctuations, and time fluctuations due to customer requests, without having to stop the operation of the entire logistics facility. [Means for solving the problem]

[0012] With the above problems in mind, the inventor first created the technical idea of ​​an autonomous mobile robot (hereinafter referred to as ANR (Autonomous Navigation Robot)), which is a robot that moves automatically and replaces at least a part of the work performed by a worker, and which can perform operations based on overall optimal control as necessary in addition to its own optimal control. By using such an autonomous mobile robot, it becomes possible to reduce the number of personnel required at logistics facilities.

[0013] In order to solve the above problems, a logistics facility according to a first aspect of the present invention is a logistics facility that can function as at least one of an incoming unit into which goods are received, a storage unit for storing the incoming goods, a sorting unit for sorting the stored goods according to purpose, and an outgoing unit for shipping the sorted goods, and the logistics facility is provided with an autonomous mobile robot having an autonomous movement function capable of creating an autonomous movement scenario for autonomously moving from a current position to a loading position and from the loading position to a destination, a receiving unit for receiving a mechanism instruction from the logistics facility, and a comparison and weighing unit for comparing and weighing the autonomous movement scenario created by the autonomous movement function with the mechanism instruction received by the receiving unit to determine a final movement scenario, Stocking department , the storage unit, Sorting department , the above Delivery Department The present invention is characterized in that at least one or more tasks related to at least one of the above and / or movements related to the above tasks are carried out.

[0014] In the above, a "logistics facility" is defined as an entity that realizes all functions useful for logistics, and can include any of the following: a logistics facility, a logistics warehouse, machines, tools, and equipment used in a logistics facility / warehouse (hereinafter referred to as "machinery, etc."), or a machinery, etc. system that considers such machines, etc. as a combination of hardware and software.

[0015] In the above, an "autonomous mobile robot" is defined as a robot that has an autonomous movement function, moves automatically, and replaces at least part of the work performed by a worker. This can include situations in which the autonomous mobile robot completes work on its own, as well as situations in which it completes work in collaboration with a worker.

[0016] In the above, "autonomous movement function" is defined as a function that enables smooth movement from a first point to a second point, which may include aspects such as a communication function with a nearby robot, a collision avoidance function, and a function for responding to accidents during movement, and each of these functions may be realized as a combination of (publicly known) hardware elements that constitute the robot and software for starting and operating each of the hardware elements.

[0017] In the above, the "comparison and weighing unit" is defined as a mechanism that compares and weighs an autonomous movement scenario indicating a movement route derived by the autonomous movement function of the autonomous mobile robot with the mechanism instructions of the logistics mechanism to determine a conclusion movement scenario indicating an optimal movement route, which can include a mode that takes into account at least the movement distance and the surrounding conditions of the movement route, and each of these functions can be realized as a combination of (known) hardware elements that constitute a computer for realizing this algorithm and software for starting and operating each of the hardware elements.

[0018] Here, as a second aspect of the present invention, in the first aspect above, the roles of control by an overall control computer that manages the entire logistics facility and control by the autonomous mobile robots are divided, and the overall control computer manages and controls the state, current position, loading position and destination of the autonomous mobile robots, and selects one or more of the autonomous mobile robots to operate based on in-stock / out-stock information having at least in-stock / out-stock item information and in-stock / out-stock quantity information, and the autonomous mobile robots move autonomously from their current positions to the loading position and from the loading position to the destination, and the overall control computer and the autonomous mobile robots may be capable of performing control that prevents the entire logistics warehouse from stopping and ensures flexibility in operation.

[0019] Here, a "logistics warehouse" to which a logistics facility applies is defined as a warehouse that stores various items such as goods and containers for storing goods, and can include not only regular warehouses but also refrigerated warehouses.

[0020] In the above, "roles are divided between control by an overall control computer and control by the autonomous mobile robot" is defined as the overall control computer managing the information necessary for the autonomous mobile robot to select a movement route and providing it to the autonomous mobile robot, while the autonomous mobile robot (or the computer associated with the autonomous mobile robot) autonomously determines a movement route based on the information provided by the overall control computer, thereby allowing the overall and each autonomous mobile robot to share the necessary functions / control and avoid conflicting with each other, and can include a form in which information is exchanged via a wireless network, as well as a form in which information is exchanged by the autonomous mobile robot contacting a specified component of the logistics warehouse at a specified location such as a charging facility within the logistics warehouse.

[0021] In the above, "moving autonomously" is defined as an autonomous mobile robot autonomously determining a movement path and moving along the determined movement path without intervention from other mechanisms, and can include a situation in which the determined movement path is corrected midway through movement and the robot moves along the corrected movement path, and each of these functions can be realized as a combination of (well-known) hardware elements that make up the autonomous mobile robot and software for activating and operating each of the hardware elements.

[0022] In the above, "performing control to ensure flexibility of operation" is defined as performing control so that repairs, layout changes, or increasing or decreasing the amount of work processed per unit time can be performed without stopping the operation of the logistics warehouse, and can include increasing or decreasing the number of autonomous mobile robots deployed according to the situation, and each of these functions can be realized as a combination of (well-known) hardware elements that make up the robot or the computer that controls the robot, and software for starting and operating each of the hardware elements.

[0023] This makes it possible to flexibly and dynamically respond to breakdowns, layout changes, or fluctuations in demand, seasonal fluctuations, and time fluctuations due to customer requests, without having to stop operations of the entire logistics facility.

[0024] That is, when controlling the movement of an autonomous mobile robot (ANR), roles are shared between the ANR and the overall control computer. The overall control computer knows the current location and status of the ANR, and manages the loading position for loading goods and the destination for unloading the goods. The overall control computer selects an ANR that is not loaded with goods and has no loading reservation, and issues an operation command to the selected ANR along with the loading position and destination.

[0025] The selected ANR will autonomously move from its current location to the loading location based on the command it received. After the goods are loaded, it will autonomously move to the destination. During this time, the ANR is not controlled by the overall control computer.

[0026] In other words, the overall control computer only needs to manage the current location, loading location, and destination of the non-operating ANRs, as well as the availability status of the ANRs. Meanwhile, the ANRs only need to determine their own (autonomous) movement routes and control their movements.

[0027] By dividing up the roles in this way, when a new ANR is added, the overall control computer only needs to add the above-mentioned control for it, and no program changes are required. On the other hand, when reducing the number of ANRs operating during off-seasons, it is sufficient to remove the ANR from the control targets of the overall control computer. This change also does not require any program changes. By dividing up the control between the overall control computer and the ANRs in this way, it is possible to dynamically increase or decrease the number of ANRs.

[0028] Furthermore, because the ANR can be increased or decreased easily, it is possible to construct logistics facilities in a short period of time, change their layout in a short period of time, and improve vulnerabilities that allow for easy maintenance and management.

[0029] As a third aspect of the present invention, in the above second aspect, the autonomous mobile robot may be characterized in that it detects a situation on the movement path by a detection means, generates situation information, and corrects the movement path based on the situation information.

[0030] This may be characterized in that the ANR can select a more appropriate travel route.

[0031] As a fourth aspect of the present invention, in the above third aspect, the autonomous mobile robot may be characterized in that the autonomous mobile robot shares the situation information with other autonomous mobile robots.

[0032] This may enable ANRs to share situational information with each other, utilize the situation detected by other ANRs as the ANR's own situation, and select a more appropriate travel route.

[0033] As a fifth aspect of the present invention, in the third or fourth aspect above, the autonomous mobile robot may transmit the situation information to the overall control computer, and the overall control computer may adjust the number of the autonomous mobile robots operating based on the situation information.

[0034] This may be characterized in that it is possible to operate an optimal number of ANRs depending on the situation within the logistics facility.

[0035] As a sixth aspect of the present invention, in any of the third to fifth aspects described above, the autonomous mobile robot may further include a prediction information generation unit that predicts a situation on the movement path based on the situation information and generates prediction information, and a correction unit that corrects the movement path based on the prediction information.

[0036] This allows the ANR to predict situations based on past situations and select travel routes, making it possible to operate the system more quickly and efficiently.

[0037] As a seventh aspect of the present invention, in the above sixth aspect, the autonomous mobile robot may be characterized in that the autonomous mobile robot shares the prediction information with other autonomous mobile robots.

[0038] This allows for more accurate situation prediction, and enables faster and more efficient system operation.

[0039] As an eighth aspect of the present invention, in the sixth or seventh aspect above, the autonomous mobile robot may transmit the prediction information to the overall control computer, and the overall control computer may adjust the number of the autonomous mobile robots operating based on the prediction information.

[0040] This makes it possible to operate an optimal number of ANRs depending on the current situation and future predicted situations within the logistics facility, thereby enabling more efficient system operation.

[0041] As a ninth aspect of the present invention, in any of the above first to eighth aspects, the logistics mechanism may be applicable to at least one of a logistics center / logistics mechanism for putting goods into a distribution process, a warehouse for storing parts for a manufacturer to produce goods, a system for handling baggage at an airport between baggage drop-off or claim and airplanes, and a warehouse for handling postal and courier packages.

[0042] According to the above aspect, the logistics system of the present invention can be applied to various facilities where a large number of different types of items are stored and sorted.

[0043] As a tenth aspect of the present invention, in any one of the first to ninth aspects, the autonomous mobile robot comprises: Stocking department , the storage unit, Sorting department , the above Delivery Department For the operations related to at least one of the above and / or the movements related to the operations, at least one of a shelf, a conveyor, a sorting table, and a towing means may be provided.

[0044] In the above, a "shelf" is defined as a fixed object that is installed on any part of an autonomous mobile robot (for example, the top) and has the function of holding / storing items to be distributed, and can include aspects such as shelves stacked in multiple tiers, such as so-called temporary storage shelves.

[0045] In the above, a "conveyor" is defined as a machine that is installed on any part of an autonomous mobile robot (for example, the top) and has the function of moving or transporting items that are the subject of logistics, and can include an embodiment in which a small conveyor is integrated into the robot on the top, for example.

[0046] In the above, a "sorting table" is defined as a fixed object that is installed on any part of the robot (for example, the top end) and has the function of placing products together according to their shipping destination, and can include the form of a flat temporary placement table.

[0047] In the above, "traction means" is defined as a machine / tool / device (hereinafter referred to as "machine, etc.") that is installed on any part of the robot (for example, the lower part) and has the function of moving the robot itself from the outside, or a machine, etc. system that considers such a machine, etc. as a combination of hardware and software, and this can include, for example, an embodiment realized by a six-wheeled cart (not limited to six wheels, but can be a cart with any integer number of wheels), an embodiment realized by a hooking part from a separate traction device, etc.

[0048] According to the above aspect, the autonomous mobile robot can replace the functions performed by each component of a conventional logistics warehouse.

[0049] As an eleventh aspect of the present invention, in any one of the first to tenth aspects, the logistics mechanism may include at least one of a shelf, a conveyor, and a sorting table.

[0050] In the above, a "shelf" is defined as a fixed object that is installed, for example, in a storage space (which may be a storage facility) and has the function of holding / storing items to be distributed, and can include the so-called stacked shelves.

[0051] In the above, a "conveyor" is defined as a machine that has the function of moving or transporting goods that are the subject of logistics. For example, Sorting department The connection point with Sorting department and Delivery Department The present invention can include a conveying mechanism (e.g., belt type, roller type, etc.) that is installed at any location such as a connection point with the

[0052] In the above, a "sorting table" is defined as a fixed object having the function of placing products together according to their shipping destination, and can include a flat temporary placement table attached to a conveyor.

[0053] According to the above aspect, while part of the configuration of a conventional logistics facility can be preserved, other components can be replaced by autonomous mobile robots, enabling flexible operation. Effect of the Invention

[0054] According to each aspect of the present invention, it becomes possible to flexibly and dynamically respond to breakdowns, layout changes, or fluctuations in demand, seasonal fluctuations, and time fluctuations due to customer requests, without having to shut down the entire logistics facility. [Brief description of the drawings]

[0055] [Figure 1] 1 is a schematic diagram showing an example of the overall configuration of a logistics system according to an embodiment of the present invention; [Diagram 2] FIG. 2 is a schematic diagram of an embodiment of an autonomous mobile robot used in the logistics facility of FIG. 1. [Diagram 3] 3 is a functional block diagram of an embodiment of a control unit used in the autonomous mobile robot of FIG. 2. FIG. [Figure 4] 2 is a functional block diagram of an embodiment of a control unit used in the logistics facility of FIG. 1. FIG. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0056] Hereinafter, an embodiment of the present invention will be described in detail with reference to the accompanying drawings. FIG. 1 is a schematic diagram showing an example of the overall configuration of a logistics organization 1 according to an embodiment of the present invention. As shown in FIG. 1, the logistics organization 1 includes a warehouse unit 2 as a storage unit for storing received goods, Delivery Department 3, Warehouse 2 and Delivery Department The logistics facility 1 is equipped with an autonomous mobile robot (ANR) 4 that can move within the warehouse 3, and an overall control computer 5 that serves as a control unit that manages inventory in the warehouse 2 and controls the operation of the ANR 4. Although not shown in Fig. 1, the logistics facility 1 further includes a storage unit where goods are stored, and a sorting unit that sorts the goods stored in the warehouse 2 according to purpose.

[0057] The warehouse section 2 is a warehouse where multiple types of products G and shipping containers B capable of accommodating the products G are stored, and is composed of shelves 21 in which multiple flat shelf sections 211 are stacked vertically. Although only one shelf 21 is shown as the warehouse section 2 in Fig. 1, in reality the warehouse section 2 is formed by arranging multiple shelves 21 at predetermined intervals.

[0058] The shipping container B can be at least one of a cardboard box, a plastic box, a reusable plastic prefabricated rack box, a bag, a container, or a tray, and the size is not limited to one type, and shipping containers B of various sizes can be used.

[0059] The flat shelf section 211 of the warehouse section 2 is provided with a sensor (not shown) that detects the entry and exit of the product G and the shipping container B. When the sensor detects the entry and exit of the product G or the shipping container B, it transmits the detection information to the overall control computer 5.

[0060] Delivery Department 3 is an area where shipping containers B containing goods G are sorted into truck berths for different destinations, stacked in a predetermined manner on pallets P, and loaded onto trucks T.

[0061] ANR4 is Warehouse 2 and Inside delivery section 3 The ANR 4 is an autonomous mobile means capable of moving in a direction parallel to the transport path and capable of holding the product G and the shipping container B. Fig. 2 is a schematic diagram of one embodiment of the ANR 4 used in the logistics facility of Fig. 1. As shown in Fig. 2, the ANR 4 is configured to include drive wheels 41, a lifting device 42, a stage moving means 43, a stage 44, an arm 45, a battery 46, a communication unit 47, a sensor 48, a control unit 49, and a memory unit 490.

[0062] The drive wheels 41 are wheels driven by a motor (not shown) that enable horizontal movement of the ANR 4.

[0063] In this embodiment, the lifting devices 42 are a pair of wheel drive mechanisms provided on the front and rear parts of the ANR 4. The lifting devices 42 provided on the front and rear of the ANR 4 are brought into contact with rails (not shown) provided opposite each other on the side surfaces of a pair of shelves 21, respectively, and the wheels are driven to rotate, thereby moving the ANR 4 vertically. However, this is not limiting, and any other mechanism capable of realizing the vertical movement of the ANR 4 within the warehouse section 2 may be adopted. The ANR 4 does not have to be equipped with the lifting devices 42.

[0064] The stage moving means 43 is a means for vertically moving or tilting a stage 44 on which the product G or the shipping container B is placed. The ANR does not necessarily have to be equipped with the stage moving means 43.

[0065] The stage 44 is a tray-shaped member on which the products G, shipping containers B, and pallets P are placed and which serves as a base on which the arm 45 is provided.

[0066] The arms 45 are a pair of arm-like transfer means capable of grasping the products G and the shipping containers B and removing them from the shelves 21 in the warehouse section 2, and capable of placing the shipping containers B containing the products G on the pallet P and further holding the pallet P. The arms 45 do not necessarily have to be provided.

[0067] The battery 46 is a rechargeable secondary battery that supplies power to the drive wheels 41, the lifting device 42, the stage moving means 43, the communication unit 47, the sensor 48, the control unit 49, and the memory unit 490. The battery 46 is charged, for example, by the ANR 4 approaching a charging facility (not shown) provided at an arbitrary location within the logistics facility 1. Charging by the charging facility may be performed by a contact method or a non-contact method.

[0068] The communication unit 47 is a mechanism for wirelessly communicating with the overall control computer 5 and other ANRs 4, and any communication means may be used.

[0069] The sensor 48 is a means for detecting the surrounding conditions of the ANR 4, and can detect, for example, an obstacle within a predetermined distance on the movement path of the ANR 4. The situation information indicating the surrounding conditions detected by the sensor 48 is stored in the memory unit 490.

[0070] The control unit 49 is configured with a CPU (Central Processing Unit) that controls the entire ANR4, a ROM (Read-only Memory) that stores control programs and the like that run on the CPU, and a RAM (Random Access Memory) for temporarily storing various data (all not shown).

[0071] Fig. 3 is a functional block diagram of one embodiment of the control unit 49 used in the ANR 4 in Fig. 2. As shown in Fig. 3, the control unit 49 functions as a movement distance calculation unit 491, a situation information extraction unit 492, a prediction information generation unit 493, a remaining power calculation unit 494, a prediction information extraction unit 495, a movement path determination unit 496, a stage operation unit 497, an arm operation unit 498, a lifting device operation unit 499, a drive wheel operation unit 4991, and a receiving unit 4493 by the CPU expanding a control program stored in the ROM into the RAM and executing it.

[0072] The travel distance calculation unit 491 calculates the travel distance based on current position information indicating the current position of the ANR 4, loading position information indicating the loading position and destination information indicating the destination transmitted from the overall control computer 5. In this embodiment, it is assumed that the ANR 4 autonomously determines the current position information using a GPS (Global Positioning System) (not shown) or a grid installed on the floor, but the present invention is not limited to this. In addition to autonomously determining the current position information using any position specifying means, the overall control computer 5 can grasp and manage the position information of each ANR 4 using a radar (not shown) or the like, and the overall control computer 5 can notify each ANR 4 of the respective position information.

[0073] The situation information extraction unit 492 extracts from the memory unit 490 situation information about the surroundings of the movement route, such as facilities such as charging equipment on the movement route of the ANR 4, ANR 4 that has broken down and stopped operating, obstacles, etc., which are detected by the sensor 48 and stored in the memory unit 490.

[0074] The prediction information generating unit 493 predicts the situation on the movement route based on the past situation information stored in the storage unit 490, generates prediction information, and stores it in the storage unit 490. For example, if there are multiple pieces of situation information over time, and each piece of situation information indicates that a forklift is present in a specified area, the prediction information generating unit 493 predicts that the forklift will still be present in that area when a new movement route is created, and generates prediction information. This prediction information is used when the movement route determining unit 496 determines the movement route.

[0075] The remaining power calculation unit 494 calculates the remaining power of the battery 46 .

[0076] The prediction information extraction unit 495 calls up the prediction information stored in the storage unit 490 .

[0077] The movement route determination unit 496 creates an autonomous movement scenario for autonomously moving from the current position to the loading position and from the loading position to the destination, i.e., information indicating the movement route, based on the movement distance to the destination for each candidate route, the status information for each route, the prediction information for each route, and the remaining power of the vehicle. Then, the movement route determination unit 496 compares and weighs the autonomous movement scenario with information (mechanism instructions) indicating the positions of one or more places to be moved and operation instructions to be performed at the positions, which are transmitted from the overall control computer 5 of the logistics mechanism 1, and determines a conclusion movement scenario indicating a final movement route. The movement route determination unit 496 can also function as a correction unit that corrects the movement route based on the status of the movement route and the prediction information generated by the prediction information generation unit 493.

[0078] The stage operation unit 497 controls the operation of the stage moving means 43 based on operation information transmitted from the overall control computer 5 and indicating the operation to be performed at the destination.

[0079] The arm operating unit 498 controls the operation of the arm 45 based on operation information transmitted from the overall control computer 5. That is, based on the operation information, the arm operating unit 498 controls the operation of the arm 45 to take in and out the product G and the shipping container B from the warehouse section 2 and to store the product G in the shipping container B.

[0080] The lifting device operating unit 499 controls the operation of the lifting device 42 so that the ANR 4 can be moved up and down in the storage unit 2 by a desired distance in a predetermined direction.

[0081] The driving wheel operating unit 4991 is in the warehouse section 2 and Delivery Department The operation of the drive wheels 41 is controlled so that the ANR 4 within the vehicle 3 can move horizontally in a predetermined direction by a desired distance.

[0082] The status information generating unit 4992 generates status information indicating the current position of the ANR 4, whether or not an article is loaded, whether or not loading is planned, the remaining power calculated by the remaining power calculating unit 494, and whether or not there is a malfunction, and transmits the information to the overall control computer 5. The status information received by the overall control computer 5 is stored in the memory unit 50.

[0083] The receiving unit 4493 receives mechanism instructions transmitted from the overall control computer 5 of the logistics mechanism 1, which indicate the positions of one or more locations to which the goods are to be moved, and instructions for the operation to be performed at the positions.

[0084] 2, the storage unit 490 is a storage means for storing various data. For example, the storage unit 490 stores situation information detected by the sensor 48 of the ANR 4, prediction information generated by the prediction information generating unit 494, and the like.

[0085] Returning to Figure 1, the overall control computer 5 is connected to sensors (not shown) and ANRs 4 installed on the flat shelf section 211 via a wireless network N, and performs inventory management by tracking the inflow and outflow of products G and shipping containers B to the flat shelf section 211. It also selects an operating ANR 4 and transmits mechanism instructions to the selected ANR 4, which are information indicating the locations of one or more locations to which the selected ANR 4 should be moved, and operation instructions to be performed at those locations.

[0086] The overall control computer 5 is configured with a CPU (Central Processing Unit), a ROM (Read-only Memory) that stores control programs and the like that run on the CPU, and a RAM (Random Access Memory) for temporarily storing various data (none of which are shown).

[0087] Fig. 4 is a functional block diagram of one embodiment of the overall control computer 5 used in the logistics facility 1 of Fig. 1. As shown in Fig. 4, the overall control computer 5 functions as a warehousing / receiving information management unit 51, a robot selection unit 52, a position information generation unit 53, an operation information generation unit 54, and a processing status determination unit 55 by the CPU expanding a control program stored in the ROM into the RAM and executing it.

[0088] The incoming / outgoing information management unit 51 collects incoming / outgoing information indicating incoming / outgoing items and incoming / outgoing quantities of each item of the products G and shipping containers B entering / retrieving the flat shelf unit 211 from each sensor provided on the flat shelf unit 211, and stores the information in the memory unit 50. When the products G and shipping containers B are received, the incoming / outgoing information management unit 51 determines, based on the existing incoming / outgoing information, in which free space in the warehouse unit 2 and how many of the received products G and shipping containers B should be stored. When the products G and shipping containers B are removed, the incoming / outgoing information management unit 51 determines, based on the existing incoming / outgoing information, from which flat shelf unit 211 in the warehouse unit 2 and how many of the products G and shipping containers B should be taken out.

[0089] The robot selection unit 52 selects one or more ANRs 4 to participate in the loading / unloading work of the product G or the shipping container B based on the current position, status information, and loading / unloading information of each ANR 4. In addition, the robot selection unit 52 adjusts the number of ANRs 4 to participate in the loading / unloading work based on the status information and prediction information.

[0090] The position information generating unit 53 generates one or more pieces of destination information indicating the transfer position to which the ANR 4 is to be moved and the destination, which are to be sent to the ANR 4 participating in the processing of the shipping instruction information. The destination is specifically a predetermined location on the shelf 21 that stores the product G or the shipping container B, a predetermined location on which the delivered product G or the shipping container B is to be placed, and the location of the truck berth where the truck T on which the pallet P is to be loaded is located, which are included in the warehousing / receiving information.

[0091] The operation information generating unit 54 generates operation information indicating the operation to be performed at each transfer position and destination, which is transmitted to the ANR 4. The operation is, for example, information indicating how many products G or shipping containers B are to be loaded or unloaded from a specific flat shelf unit 211, and information on which pallet P the shipping containers B are to be placed and how they are to be placed.

[0092] The processing status determination unit 55 determines the processing status of the warehousing and shipping operations. The processing status specifically includes the completion status of the warehousing operations of the received product G and shipping container B, the completion status of the shipping operation of the product G included in the shipping instruction information, and the operating status of each inserted ANR 4.

[0093] Next, a specific operation of the logistics system 1 having the above-mentioned configuration will be described. Stocking department , storage department, Sorting department , Delivery Department At least one or more tasks and / or movements related to the tasks will be carried out, as will be described in detail below.

[0094] <In stock> First, the storage of the products G and the shipping containers B in the warehouse section 2 will be described.

[0095] When product G or shipping container B arrives at the receiving section (not shown), the inventory / shipping information management section 51 of the overall control computer 5 determines, based on information (inventory information) regarding the received item and the received quantity, and storage information indicating the storage status in the warehouse section 2, where the received product G or shipping container B is located and how many of each should be stored in which available space in the warehouse section 2.

[0096] Then, the robot selection unit 52 selects an ANR 4 to perform the warehousing operation based on the position information and status information of each ANR 4. Specifically, the robot selection unit 52 may select one or more ANRs 4 that are not currently performing a specific task and for which no specific task has been reserved, in order of proximity to the placement position where the product G or shipping container B is picked up. At this time, if the status information of a candidate ANR 4 indicates that a problem such as a dead battery or a malfunction has occurred and the ANR 4 is inoperable, the robot selection unit 52 may select an ANR 4 that is next closest to the placement position after the ANR 4, is not performing a specific task, and has no specific task reserved, as an alternative candidate.

[0097] In addition, the position information generating unit 53 and the motion information generating unit 54 generate destination information and motion information, and transmit them to the selected ANR 4.

[0098] Specifically, the position information generation unit 53 transmits to each ANR 4, as destination information, information indicating the loading position where the product G and shipping container B to be moved are placed, and which flat shelf section 211 they should be stored on (destination).

[0099] In addition, the operation information generation unit 54 transmits to each ANR4, as operation information, information indicating how many products G and shipping containers B will be collected from which starting point and how many will be stored at which destination, so that the amount of transportation does not exceed the maximum amount that the ANR4 can transport at one time.

[0100] Next, the ANR 4, having received the destination information and operation information, moves to a loading position based on this information, picks up the products G and shipping containers B of the specified type and quantity, and moves to the destination.

[0101] At this time, the movement route determination unit 496 of the ANR 4 autonomously determines the movement route to the destination based on the current position information of the own vehicle acquired by GPS and the destination information included in the mechanism instructions received from the overall control computer 5.

[0102] Specifically, the travel route determination unit 496 calculates the travel distance to the destination for each candidate route, and in principle selects the route with the shortest travel distance (shortest route) as the travel route, but may change the travel route taking into account the surrounding conditions for each route, the operating status of other ANR4s, and the remaining power of the own aircraft.

[0103] For example, if ANR4 detects through sensor 48 that a temporary obstacle (such as equipment for facility construction) has been placed on the shortest route, making it impassable, the travel route determination unit 496 excludes that route from the candidate travel routes and selects the route with the next shortest travel distance as an alternative route.

[0104] Also, if the sensor 48 detects that the route is impassable due to the concentration of other ANRs 4, the travel route determination unit 496 excludes the route from the candidate travel routes and selects the route with the next shortest travel distance as an alternative route.

[0105] Furthermore, if the remaining power of the battery 46 of the ANR4 is insufficient to make it difficult to move continuously along the extracted route, the travel route determination unit 496 selects another travel route that is equipped with charging facilities so that charging is possible during movement.

[0106] Furthermore, the movement route determination unit 496 determines the movement route based on the prediction information generated by the prediction information generation unit 493 stored in the storage unit 490, in addition to other elements. This enables the ANR 4 to learn past situations and determine a further optimal movement route based on the learned contents.

[0107] Once the movement route is determined, ANR 4 moves along that route, picks up product G and shipping container B at the loading position, and stores product G and shipping container B at the destination.

[0108] Furthermore, the processing status determination unit 55 determines the processing status of the warehousing work based on the warehousing information and the operating status of each ANR 4. Then, when the processing status determination unit 55 determines that the warehousing completion is likely to be delayed compared with a predetermined warehousing completion target time according to the quantity of goods, the robot selection unit 52 selects an ANR 4 that can be added to the warehousing work and adds it to the warehousing work.

[0109] At this time, the location information generation unit 53 and the operation information generation unit 54 generate and transmit new destination information and operation information for the ANR4 being added, and also generate and transmit new, corrected destination information and operation information for the ANR4 that has already been added.

[0110] This makes it possible to flexibly change the number of ANR4s used and the work content depending on the progress of the warehouse work.

[0111] Furthermore, the overall control computer 5 adjusts the number of ANRs 4 engaged in the warehousing work based on the status information generated by the ANRs 4. For example, when an ANR 4 detects the occurrence of congestion or the presence of an obstacle in a specified area due to an ANR 4 and generates status information, and the processing status determination unit 55 of the overall control computer 5 determines based on this status information that it is difficult to continue operating the initially introduced number of ANRs 4, the robot selection unit 52 performs processing to reduce the number of ANRs 4 to be used in the warehousing work.

[0112] The reduction in the number of operating ANRs 4 may be performed by, for example, sequentially suspending the operation of the ANRs 4 that have moved the products G or shipping containers B to their destinations until the number of operating ANRs is reduced to an appropriate number. Note that it is preferable that the suspended ANRs 4 are moved to charging facilities within the logistics facility.

[0113] In this way, by adjusting the number of ANR4s in operation depending on the situation, it is possible to operate the optimal number of ANRs depending on the situation within the logistics facility.

[0114] Furthermore, the overall control computer 5 adjusts the number of ANRs 4 engaged in storage work based on the prediction information generated by the ANRs 4. For example, when an ANR 4 generates prediction information predicting that an obstacle will continue to exist in a specified area and the processing status determination unit 55 of the overall control computer 5 determines based on this prediction information that it is difficult to continue operating the number of ANRs 4 that were initially planned to be introduced, the robot selection unit 52 performs processing to reduce the number of ANRs 4 introduced into the work.

[0115] In this way, by adjusting the number of ANR4 units in operation based on situation predictions, it is possible to operate the optimal number of ANRs depending on the current situation and future predicted situations within the logistics facility, enabling more efficient system operation.

[0116] <Issuing> Next, the delivery of the products G and shipping containers B from the warehouse section 2 will be described.

[0117] When a shipping order is received for a specific product G, that is, when shipping instruction information indicating the type, quantity and destination of the product G to be shipped is received, the location information generation unit 53 of the overall control computer 5 determines one or more flat shelf sections 211 from which the specific product G or shipping container B will be removed as the transfer location based on the storage information of the product G and shipping container B collected by the inventory information management unit 51, and further determines the point where the picked-up product G or shipping container B will be unloaded as the destination, and transmits this destination information to each ANR 4.

[0118] Next, the operation information generation unit 54 transmits to each ANR4 as operation information information indicating how many products G or shipping containers B should be collected at which transfer location and at which destination they should be placed, so that the amount of transported does not exceed the maximum amount that the ANR4 can transport at one time.

[0119] Then, the robot selection unit 52 selects the ANR 4 closest to the start point from among the ANRs 4 not performing the specific task. If the candidate ANR 4 has a problem such as a dead battery or a malfunction and is inoperable, the robot selection unit 52 selects the ANR 4 next closest to the start point from among the ANRs 4 not performing the specific task as an alternative candidate.

[0120] Next, ANR4, having received the destination information and operation information, travels around the transfer locations based on this information, picks up the specified type and quantity of products G and shipping containers B, places the products G in the shipping containers B, and moves to the destination.

[0121] At this time, the movement route determination unit 496 of the ANR 4 autonomously determines the movement route to the destination based on the current position information of the vehicle itself acquired by GPS and the destination information included in the mechanism command received from the overall control computer 5. The specific method of determining the movement route is similar to the operation at the time of warehousing described above, and therefore a detailed description thereof will be omitted here.

[0122] ANR4 then moves along the movement route, picking up products G and shipping containers B in sequence, and when picking of all instructed items is completed, moves to the destination and unloads the picked items.

[0123] The destination here may be, for example, a pallet P at a predetermined location. In this case, for each destination, a shipping container B is first carried by the ANR 4 and lowered onto the pallet P. Next, products G picked by other ANRs 4 are placed one after another into the shipping container B on the pallet P. In this manner, the products G are picked.

[0124] Then, the pallet P on which all the planned shipping containers B have been placed is transported by the ANR 4 and loaded onto the truck T. The loading of the pallet P onto the truck T may be performed by a single AMR 4, or may be performed by a plurality of ANRs 4 working together. In addition, the loading of the pallet P onto the truck T may be performed by a worker using a transport means such as a forklift.

[0125] Furthermore, the processing status determination unit 55 determines the processing status of the shipping work based on the shipping instruction information and the operation information of each ANR 4. Then, when the processing status determination unit 55 determines that the shipping completion is likely to be delayed compared with the predetermined shipping completion target time according to the quantity of goods, the robot selection unit 52 selects an ANR 4 that is not performing a predetermined task and is capable of engaging in shipping work, and adds it to the shipping work.

[0126] At this time, the location information generation unit 53 and the operation information generation unit 54 generate and transmit new destination information and operation information for the ANR4 being added, and also generate and transmit new, corrected destination information and operation information for the ANR4 that has already been added.

[0127] This makes it possible to flexibly change the number of ANR4 units deployed and the work content depending on the progress of shipping operations.

[0128] Furthermore, the overall control computer 5 adjusts the number of ANRs 4 engaged in the unloading work based on the status information generated by the ANRs 4. For example, when an ANR 4 detects the occurrence of congestion or the presence of an obstacle in a specified area due to an ANR 4 and generates status information, and the processing status determination unit 55 of the overall control computer 5 determines based on this status information that it is difficult to continue operating the initially introduced number of ANRs 4, the robot selection unit 52 performs processing to reduce the number of ANRs 4 to be put into work.

[0129] This reduction in the number of operating ANRs 4 is similar to that explained during the warehousing operation described above, so a detailed explanation will be omitted here.

[0130] In this way, by adjusting the number of ANR4s in operation depending on the situation, it is possible to operate the optimal number of ANRs depending on the situation within the logistics facility.

[0131] Furthermore, based on the forecast information generated by the ANRs 4, the overall control computer 5 adjusts the number of operating ANRs 4. The adjustment of the number of operating ANRs 4 based on this forecast information is similar to that explained in the above-mentioned warehousing operation, so a detailed explanation will be omitted here.

[0132] In this way, by adjusting the number of ANR4 units in operation based on situation predictions, it is possible to operate the optimal number of ANRs depending on the current situation and future predicted situations within the logistics facility, enabling more efficient system operation.

[0133] The shipping instruction information may include desired shipping date information indicating the desired shipping date. In this case, the robot selection unit 52 may preferentially input the ANR4 to the shipping instruction information with an earlier desired shipping date based on the desired shipping date information. This allows the shipping process to be performed appropriately according to the desired shipping date.

[0134] In this way, the logistics system 1 of the present invention can flexibly and dynamically respond to breakdowns, layout changes, and fluctuations in demand, seasonal fluctuations, and time fluctuations due to customer requests, without having to stop operations of the entire logistics facility.

[0135] That is, when controlling the movement of the ANR 4, roles are shared between the ANR 4 and the overall control computer. The overall control computer 5 knows the current position and status of the ANR 4, and manages the loading position for loading goods and the destination for unloading the goods. The overall control computer 5 selects an ANR 4 that is not loaded with goods and has no loading reservation, and issues an operation command to the selected ANR 4 along with the loading position and destination.

[0136] The selected ANR 4 autonomously moves from its current position to the loading position based on the received command. After that, when the goods are loaded, it autonomously moves to the destination. During this time, the ANR 4 is not controlled by the overall control computer 5.

[0137] That is, the overall control computer 5 is required to manage, at a minimum, only the current positions, loading positions, and destinations of the non-operating ANRs 4, and the vacancy status of the ANRs 4. On the other hand, the ANRs 4 are required to determine their own (autonomous) movement routes and control their movements.

[0138] By dividing up the roles in this way, when a new ANR 4 is added, the overall control computer 5 only needs to add the above-mentioned control for it, and no program changes are required. On the other hand, when reducing the number of ANRs 4 operating during the off-season, it is sufficient to remove the ANR 4 from the control targets of the overall control computer 5. No program changes are required for this change either. By dividing up the control of the overall control computer 5 and the ANRs 4 in this way, it becomes possible to dynamically increase or decrease the number of ANRs 4.

[0139] Furthermore, because ANR4 can be increased or decreased easily, it is possible to quickly construct logistics facilities, quickly change their layouts, and improve vulnerabilities that allow for easy maintenance and management.

[0140] Furthermore, ANR4 determines the travel route based on the travel distance to the destination for each candidate route, the surrounding conditions for each route, the operating status of other ANR4s, and the remaining power of the aircraft, so that it can select the optimal travel route for each situation.

[0141] The present invention is not limited to the above-described embodiment, and various modifications can be made.

[0142] For example, the ANR 4 may be able to share situation information by transmitting the situation information it holds to other ANRs 4. This allows the ANRs 4 to share situation information with each other and use the situation detected by the other ANRs as the ANR's own, thereby enabling the selection of a more appropriate travel route.

[0143] Furthermore, the ANR 4 may be capable of sharing the prediction information held by itself by transmitting the prediction information to other ANRs 4. This enables more accurate situation prediction, and enables faster and more efficient system operation.

[0144] In the above-described embodiment, the lifting device 42 is provided in the ANR 4 to enable the products G and shipping containers B to be loaded and unloaded from the stacked flat shelf sections 211, but the present invention is not limited to this, and the ANR 4 may have a forklift means capable of storing and unloading the products G and shipping containers B from each of the upper and lower flat shelf sections 211. Even in such an embodiment, the ANR 4 enables the products and shipping containers to be loaded and unloaded automatically without using any special loading and unloading means in the warehouse section 2.

[0145] In the above-described embodiment, a single type of ANR 4 is used, but the present invention is not limited to this. For example, the ANR 4 may be a small robot that moves within the warehouse unit 2 to store and retrieve products G and shipping containers B, and a robot that receives products G and shipping containers B from the small robot and stores the products G in the shipping containers B for each shipping destination. Delivery Department A large robot that moves within the warehouse 3 may be used. This allows small robots that are small and easy to move within the warehouse and are specialized for loading and unloading work to store products in and out of shipping container B and Delivery Department In step 3, sorting can be done using large robots with greater output, enabling more efficient system operation.

[0146] Furthermore, in the above-described embodiment, it is assumed that the work is performed only by the ANR 4, but the present invention is not limited to this, and the work may be performed in cooperation with an operator.

[0147] For example, the ANR 4 may have a laser indicator that indicates the location in the warehouse 2 where the product G or shipping container B to be shipped is stored, and the worker may pick the product G indicated by the laser indicator. This allows the worker to pick the product and the ANR 4 to transport the product G or shipping container B, thus dividing the work into two parts, thereby reducing the workload of the worker.

[0148] Also, the ANR 4 may have a display unit such as a display that displays the location in the warehouse unit 2 where the product G or shipping container B to be shipped is stored, and the worker may pick the product based on the information displayed on the display unit. This allows the worker to pick the product while the ANR 4 transports the product G and shipping container B, thus reducing the workload of the worker.

[0149] Furthermore, the logistics mechanism 1 according to the present invention is not limited to a logistics center or logistics system for putting products into the distribution process, but can also be applied to warehouses that store parts for the production of products by manufacturers, systems that handle baggage between the baggage drop-off / receiving doors and airplanes at airports, warehouses that handle postal and home delivery services, etc. This makes it possible to apply the logistics mechanism according to the present invention to various facilities where a large number of different types of products are stored and sorted.

[0150] In addition, the ANR4 used in the logistics system according to the present invention has the following features: Stocking department , storage department, Sorting department , Delivery Department At least one of a shelf, a conveyor, a sorting table, and a towing means may be provided for the work related to at least one of the above and / or the movement related to the work. This allows the ANR4 to replace the functions of each component of a conventional logistics warehouse.

[0151] The logistics facility 1 according to the present invention may include at least one of a shelf, a conveyor, and a sorting table. While part of the configuration of a conventional logistics facility is preserved, other components can be replaced by autonomous mobile robots, allowing for flexible operation. [Explanation of symbols]

[0152] 1 Logistics organization 2. Warehouse Department 3 Delivery Department 4. Autonomous Mobile Robot (ANR) 5. Control section 21 Shelf 41 Drive Wheel 42 Lifting device 43 Stage movement means 44 Stages 45 Arm 46 Battery 47 Communications Department 48 Sensors 49 Control Unit 50 Storage section 211 Flat shelf 490 Storage section B Shipping container G product N Wireless Network P Palette T Track

Claims

1. A logistics system that can function as at least one of a receiving section for receiving goods, a storage section for storing the received goods, a sorting section for sorting the stored goods according to purpose, and a shipping section for shipping the sorted goods, an autonomous movement function capable of creating an autonomous movement scenario for autonomously moving from a current position to a loading position and from the loading position to a destination; A receiving unit that receives a mechanism instruction from the logistics mechanism; a comparison and weighing unit that compares and weighs the autonomous movement scenario created by the autonomous movement function and the mechanism instruction received by the receiving unit to determine a conclusion movement scenario; An autonomous mobile robot having the autonomous mobile robot detects a situation on a moving path by a detection means, generates situation information, and corrects the moving path based on the situation information; The autonomous mobile robot transmits the situation information to an overall control computer; The overall control computer adjusts the number of the autonomous mobile robots operating based on the situation information; A logistics facility characterized in that the autonomous mobile robot performs at least one task related to at least one of the receiving section, the storage section, the sorting section, and the shipping section, and / or movements related to the tasks.

2. The control by an overall control computer that manages the entire logistics mechanism and the control by the autonomous mobile robot are assigned roles, the overall control computer manages and controls the state, current position, loading position and destination of the autonomous mobile robot, and selects one or more of the autonomous mobile robots to operate based on inventory / shipment information having at least inventory / shipment item information and inventory / shipment quantity information; the autonomous mobile robot autonomously moves from the current location to the loading location and from the loading location to the destination; 2. A logistics mechanism as described in claim 1, characterized in that the overall control computer and the autonomous mobile robot are capable of performing control that prevents the entire logistics warehouse from being stopped and ensures flexibility of operation.

3. 3. The logistics mechanism according to claim 1, wherein the autonomous mobile robot shares the situation information with other autonomous mobile robots.

4. The autonomous mobile robot comprises: a prediction information generating unit that predicts a situation on the travel route based on the situation information and generates prediction information; A correction unit that corrects the moving path based on the prediction information; The logistics facility according to any one of claims 1 to 3, further comprising:

5. 5. The logistics mechanism according to claim 4, wherein the autonomous mobile robot shares the prediction information with other autonomous mobile robots.

6. The autonomous mobile robot transmits the prediction information to the overall control computer, 6. A logistics facility according to claim 4 or 5, wherein the overall control computer adjusts the number of the autonomous mobile robots in operation based on the prediction information.

7. The logistics mechanism according to any one of claims 1 to 6, characterized in that the logistics mechanism is applicable to at least one of a logistics center or logistics mechanism for putting goods into a distribution process, a warehouse for storing parts for a manufacturer to produce goods, a system for handling baggage at an airport between baggage drop-off or baggage claim and airplanes, and a warehouse for handling mail and home delivery.

8. 8. A logistics facility according to claim 1, characterized in that the autonomous mobile robot is provided with at least one of a shelf, a conveyor, a sorting table, and a towing means for performing work related to at least one of the receiving section, the storage section, the sorting section, and the unloading section, and / or for movement related to said work.

9. 9. The logistics facility according to claim 1, wherein the logistics facility includes at least one of a shelf, a conveyor, and a sorting table.

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